#ifndef __HUANYU_PID_H
#define __HUANYU_PID_H


#include "Huanyu_sys.h"
#include "Huanyu_moto.h"


#define ESC_output_PWM_LIMT			 	950

extern float KP; 
extern float KI; 
extern float KD;	

float HuanyuRobot_PID_Control(_Moto_Str* MotoStr);

		 				    
#endif


